A Self-Reconfigurable Communication Network for Modular Robots

Ricardo Franco Mendoza Garcia; Kasper Stoy; David Johan  Christensen; Andreas  Lyder

1st International ICST Conference on Robot Communication and Coordination

Research Article

A Self-Reconfigurable Communication Network for Modular Robots

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Cite: BibTeX Plain Text

@INPROCEEDINGS{10.4108/ICST.ROBOCOMM2007.2156,
    author={Ricardo Franco Mendoza Garcia and Kasper Stoy and David Johan  Christensen and Andreas  Lyder},
    title={A Self-Reconfigurable Communication Network for Modular Robots},
    proceedings={1st International ICST Conference on Robot Communication and Coordination},
    proceedings_a={ROBOCOMM},
    year={2010},
    month={5},
    keywords={},
    doi={10.4108/ICST.ROBOCOMM2007.2156}
}

Ricardo Franco Mendoza Garcia
Kasper Stoy
David Johan Christensen
Andreas Lyder
Year: 2010
A Self-Reconfigurable Communication Network for Modular Robots
ROBOCOMM
ICST
DOI: 10.4108/ICST.ROBOCOMM2007.2156

Ricardo Franco Mendoza Garcia¹^,*, Kasper Stoy¹^,*, David Johan Christensen¹^,*, Andreas Lyder¹^,*

1: The Maersk Mc-Kinney Moller Institute University of Southern Denmark Odense, Denmark

*Contact email: franco@mmmi.sdu.dk, kaspers@mmmi.sdu.dk, david@mmmi.sdu.dk, lyder@mmmi.sdu.dk

Abstract

We present a novel hybrid communication system for modular robots, based on inter-module buses that can connect on-demand to form arbitrary network topologies. In addition to describing the implementation of this hybrid communication system, we analyse transfer rates and reliability, validating the results using a Spice 1 simulation and a proof-ofconcept experiment performed on a hardware prototype. Thus, we find the system is fast, since it has a potential to provide a maximum transfer rate of 9.9Mbps divided by the maximum bus length measured in meters, with buses as large as 256 modules. The system is also found to be small in size, power saving and reliable. These features, in combination with its flexibility, make hybrid communication suitable for modular robots.

Published: 2010-05-16
Modified: 2010-05-16

: http://dx.doi.org/10.4108/ICST.ROBOCOMM2007.2156